the easiest way is to calculate the Area of the domain region and, the joint pdf is its reciprocal
In the example you posted, the domain area is the following
$$\int_{-1}^{1}[1-x^2]dx=4/3$$
thus
$$f_{XY}(x,y)=\frac{3}{4}\mathbb{1}_{[-1;1]}(x)\cdot\mathbb{1}_{[0;1-x^2]}(y)$$
you can set also $x \in \mathbb{R}$ but thea area does not changes due to the fact that $y \ge 0$
![enter image description here](https://cdn.statically.io/img/i.sstatic.net/BBR5v.jpg)
why is the joint pdf the reciprocal of the area?
observing the drawing of the joint domain, you get that
$$C\int_{-1}^{1}\left[ \int_0^{1-x^2}dy \right]dx=1$$
that is $C=3/4$
Now observe that the above double integral is, geometrically, the volume of a solid figure with base the green region and constant height C that is your uniform density.
thus
$$V=1=C\cdot A$$
that means
$$C=\frac{1}{A}$$